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When the ventricles contract, atrioventricular valves close to prevent blood from flowing back into the atria. When the ventricles relax, semilunar valves close to prevent blood from flowing back into the ventricles.
The bicuspid valve, sometimes better known as the mitral valve, allows blood to flow in only one direction (assuming it is functional) from the left atrium to the left ventricle, it prevents blood from flowing back from the left ventricle into the left atrium.